Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 90)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
3-5
3.1.2 Second In-Position Check (INP) Command
! Outline
When moving according to the interpolation, the Second In-position Check (INP)
command is sent to pass close to the end position.
! Detailed Explanation
The INP command method is shown as follows:
According to the above command, when the PFN-designated interpolation movements
which are commanded after the INP command, and/or the independent PFN-
designated interpolation movements are verified having entered the Second
Positioning Completion Range, the next block execution is started. When there are
multiple moving axes, the next block is started after each axis has entered the Second
Positioning Completion Range.
Axis 2
Axis 1
Sharp angles occur when
using the PFN command
The locus is rounded
w/ the PFN command
after the INP command.
Interpolation locus
when the In-position
Check command is
Figure 3.3: Second In-position Check Command
not sent.
w/o the INP command.
INP [axis1]--[axis2]--...;
Positioning Completion Range
Speed
Time
Start In-Position Check
Next Block
Second Positioning Completion Range
(Set according to program)
Figure 3.4: Second In-Position Check Command Method
Actual Interpolation Movement
Command pulse